Add and apply interrupt helper macros
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committed by
Scott Lahteine
parent
6131c62499
commit
ee46ce1743
@ -1081,21 +1081,17 @@ void Stepper::init() {
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#endif
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// waveform generation = 0100 = CTC
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CBI(TCCR1B, WGM13);
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SBI(TCCR1B, WGM12);
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CBI(TCCR1A, WGM11);
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CBI(TCCR1A, WGM10);
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SET_WGM(1, WGM_CTC_OCRnA);
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// output mode = 00 (disconnected)
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TCCR1A &= ~(3 << COM1A0);
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TCCR1A &= ~(3 << COM1B0);
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SET_COMS(1, COM_NORMAL, COM_NORMAL);
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// Set the timer pre-scaler
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// Generally we use a divider of 8, resulting in a 2MHz timer
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// frequency on a 16MHz MCU. If you are going to change this, be
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// sure to regenerate speed_lookuptable.h with
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// create_speed_lookuptable.py
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TCCR1B = (TCCR1B & ~(0x07 << CS10)) | (2 << CS10);
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SET_CS(1, CS_PRESCALER_8); // CS 2 = 1/8 prescaler
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// Init Stepper ISR to 122 Hz for quick starting
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OCR1A = 0x4000;
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